{"corpus_id":757244,"paper_sha":"529cf7a716e6c9da99c6a468730f22398f75c1a4","doi":"10.1109/70.88137","arxiv_id":null,"pmid":null,"pmcid":null,"mag_id":2125409550,"dblp_id":"journals/trob/BorensteinK91","acl_id":null,"title":"The vector field histogram-fast obstacle avoidance for mobile robots","year":1991,"publication_date":null,"venue":"IEEE Trans. Robotics Autom.","journal":{"name":"IEEE Trans. Robotics Autom.","pages":"278-288","volume":"7"},"journal_issn":null,"journal_title":null,"publication_types":["JournalArticle"],"pubmed_pub_types":null,"s2_fields_of_study":["Computer Science","Engineering"],"reference_count":31,"citation_count":2636,"influential_citation_count":156,"is_open_access":false,"arxiv_categories":null,"arxiv_license":null,"arxiv_journal_ref":null,"mesh_headings":null,"chemicals":null,"comments_corrections":null,"source_flags":1,"s2_open_access_pdf_url":null,"s2_open_access_landing_url":null,"s2_open_access_license":null,"s2_open_access_status":null,"pmc_open_access_pdf_url":null,"pmc_open_access_landing_url":null,"pmc_open_access_license":null,"pmc_open_access_status":null,"unpaywall_open_access_pdf_url":null,"unpaywall_open_access_landing_url":null,"unpaywall_open_access_license":null,"unpaywall_open_access_status":null,"abstract":"A real-time obstacle avoidance method for mobile robots which has been developed and implemented is described. This method, named the vector field histogram (VFH), permits the detection of unknown obstacles and avoids collisions while simultaneously steering the mobile robot toward the target. The VFH method uses a two-dimensional Cartesian histogram grid as a world model. This world model is updated continuously with range data sampled by onboard range sensors. The VFH method subsequently uses a two-stage data-reduction process to compute the desired control commands for the vehicle. Experimental results from a mobile robot traversing densely cluttered obstacle courses in smooth and continuous motion and at an average speed of 0.6-0.7 m/s are shown. A comparison of the VFN method to earlier methods is given.< <ETX xmlns:mml=\"http://www.w3.org/1998/Math/MathML\" xmlns:xlink=\"http://www.w3.org/1999/xlink\">&gt;</ETX>","claims":[{"public_id":"cl_5a7740bcce815df74d0d890d5d3861e6","status":"active","text":"A comparison with earlier methods is provided.","confidence":0.9,"contributors":[{"id":1,"public_id":"12632b8b5f","public_label":"Anonymous (12632b8b5f)","roles":["extraction"],"url":"https://sah.borca.ai/u/12632b8b5f"}],"url":"https://sah.borca.ai/claims/cl_5a7740bcce815df74d0d890d5d3861e6"},{"public_id":"cl_eaece3ee8ffbdd13eb87eaee79d92c56","status":"active","text":"A two-dimensional Cartesian histogram grid, continuously updated with onboard range-sensor data, serves as the world model for the method.","confidence":0.97,"contributors":[{"id":1,"public_id":"12632b8b5f","public_label":"Anonymous 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